I would like to know which models of motors (specific type, not just the brand) are mounted on each joint of a UR robot, so, if anybody knows it, it would be very helpful.

Thank you very much

@Andre Kollmorgen Permanent Magnet AC Synchronous Drive motors w/ 100:1 gearbox

@Kaleb_Rodes thank you very much for your answer, but luckely/unluckely I already knew the brand of the motors and the reduction ratio, my question was much more specific, probably I didn't exaplain myself well. I know that the UR5 mounts Kollmorgen motors (KBM series), but I do not know exactly which model. Do you know this information? 

Thnak you very much for your time

@Andre per Kollmorgen, the original prototype design was based on a standard KBM lamination only but the UR robot joints do not use and have never used a standard KBM motor. Kollmorgen is not allowed to share/give out info on specific motor details for the UR joints.. it's a highly customized design that is specific to the UR system. Their recommendation for robotic motors is very different from anything they sell to UR.